Abstract
Photogrammetry-based methods using everyday photographic equipment and easily available software have gained relevance for roughness measurement of rock joints, as an alternative to traditional approaches. However, the influence of some aspects, such as the number and orientation of camera poses, the parameters of the Structure-from-Motion, Multi-View Stereo and meshing algorithms, the resolution and accuracy of the reconstructed models, requires proper appraisal. To assess the surface roughness of a granite rock joint specimen using such photogrammetry methods, 3D models generated using different settings (i.e. camera sensors, camera poses, open/free software and workflows) were compared with a reference model obtained by contact digitalization. The results suggest that comparable results can be achieved if the photos adequately cover the specimen and, at least, equivalent vertex densities are attained. Percentiles p5 and p95 of surface deviations of the tested models to the reference mesh were, in general, lower than ±0.1 mm. Estimated roughness parameters showed reduced variability, with a minor impact on the shear strength evaluated according to the Grasselli’s GG-shear strength criterion, which was developed from the empirical correlation of roughness parameters with laboratory testing data. Results also showed that this methodology is far more accessible, easier to use, faster to implement, and less expensive than most currently available equipment and approaches.
Highlights
-
A photogrammetry workflow is used for 3D reconstruction of rock joints
-
It is significantly faster and less expensive than most available approaches
-
Various parameters are tested and analysed with a DSLR and a smartphone
-
Comparison with a contact digitalization method showed promising results
-
This method may constitute a valuable tool to be used in lab and in the field
Similar content being viewed by others
References
Abate D, Menna F, Remondino F, Gattari MG (2014) 3D painting documentation: evaluation of conservation conditions with 3D imaging and ranging techniques. Int Arch Photogramm Remote Sens Spatial Inf Sci XL–5:1–8. https://doi.org/10.5194/isprsarchives-XL-5-1-2014
An P, Fang K, Jiang Q, Zhang H, Zhang Y (2021) Measurement of rock joint surfaces by using smartphone structure from motion (SfM) photogrammetry. Sensors 21(3):922. https://doi.org/10.3390/s21030922
Barton N, Choubey V (1977) The shear strength of rock joints in theory and practice. Rock Mech 10(1):1–54. https://doi.org/10.1007/bf01261801
Belem T, Homand-Etienne F, Souley M (2000) Quantitative parameters for rock joint surface roughness. Rock Mech Rock Eng 33(4):217–242. https://doi.org/10.1007/s006030070001
Brown SR (1995) Simple mathematical model of a rough fracture. J Geophys Res Solid Earth 100(B4):5941–5952. https://doi.org/10.1029/94JB03262
Brown SR, Scholz CH (1985) Broad bandwidth study of the topography of natural rock surfaces. J Geophys Res Solid Earth 90(B14):12575–12582. https://doi.org/10.1029/JB090iB14p12575
Cignoni P, Callieri M, Corsini M, Dellepiane M, Ganovelli F, Ranzuglia G (2008) MeshLab: an open-source mesh processing tool. In: Scarano V et al (eds) 2008 Eurographics Italian Chapter Conference; Salerno, Italy; 2–4 Jul. 2018; pp 129–136. https://doi.org/10.2312/LocalChapterEvents/ItalChap/ItalianChapConf2008/129-136
Cottrell B, Tatone BSA, Grasselli G (2010) Joint replica shear testing and roughness degradation measurement. In: Zhao J et al (eds) ISRM international symposium—EUROCK 2010; Lausanne, Switzerland; 15–18 Jun.; Paper 43
Develi K, Babadagli T, Comlekci C (2001) A new computer-controlled surface-scanning device for measurement of fracture surface roughness. Comput Geosci 27(3):265–277. https://doi.org/10.1016/S0098-3004(00)00083-2
3DFlow (2019) 3DF Zephyr Free v. 5.013. http://www.3dflow.net/. Accessed Nov 2020
Fardin N, Feng Q, Stephansson O (2004) Application of a new in situ 3D laser scanner to study the scale effect on the rock joint surface roughness. Int J Rock Mech Min Sci 41(2):329–335. https://doi.org/10.1016/S1365-1609(03)00111-4
Fecker E, Rengers N (1971) Measurement of large scale roughness of rock planes by means of profilograph and geological compass; In: Rock Fracture: 1st international symposium on rock mechanics; Nancy, France; 6–8 Oct.; pp 1–18
Fraser CS, Stamatopoulos C (2014) Automated target-free camera calibration; In: ASPRS 2014 annual conference; Louisville, Kentucky USA; March 23–28, 2014
Furukawa Y, Curless B, Seitz SM, Szeliski R (2010) Towards Internet-scale multi-view stereo; In: 2010 IEEE computer society conference on computer vision and pattern recognition (CVPR); San Francisco, CA, USA; 13–18 Jun. 2010; pp 1434–1441. https://doi.org/10.1109/CVPR.2010.5539802
Gaich A, Pötsch M (2015) 3D images for data collection in tunnelling—applications and latest developments. Geomech Tunnel 8(6):581–588. https://doi.org/10.1002/geot.201500041
Gaich A, Pötsch M, Rieder B, Schubert W (2019) Drone imagery for the acquisition and assessment of rock fall areas. In: Fontoura SD et al (eds) 14th International congress on rock mechanics and rock engineering (ISRM 2019); Foz do Iguaçu, Brazil; 13–18 Sep.; Paper 15036
García-Luna R, Senent S, Jimenez R (2021) Using telephoto lens to characterize rock surface roughness in SfM models. Rock Mech Rock Eng 54:2369–2382. https://doi.org/10.1007/s00603-021-02373-7
Ge YF, Tang HM, Huang L, Wang LQ, Sun MJ, Fan YJ (2012) A new representation method for three-dimension joint roughness coefficient of rock mass discontinuities. Chin J Rock Mech Eng 31(12):2508–2517
Ge Y, Kulatilake PHSW, Tang H, Xiong C (2014) Investigation of natural rock joint roughness. Comput Geotech 55:290–305. https://doi.org/10.1016/j.compgeo.2013.09.015
Ge Y, Lin Z, Tang H, Zhao B (2021) Estimation of the appropriate sampling interval for rock joints roughness using laser scanning. Bull Eng Geol Environ 80:3569–3588. https://doi.org/10.1007/s10064-021-02162-0
Grasselli G (2001) Shear strength of rock joints based on quantified surface description. PhD Thesis; Lausanne, Switzerland: Ecole Polytechnique Federale de Lausanne (EPFL). https://doi.org/10.5075/epfl-thesis-2404
Grasselli G, Egger P (2003) Constitutive law for the shear strength of rock joints based on three-dimensional surface parameters. Int J Rock Mech Min Sci 40(1):25–40. https://doi.org/10.1016/S1365-1609(02)00101-6
Grasselli G, Wirth J, Egger P (2002) Quantitative three-dimensional description of a rough surface and parameter evolution with shearing. Int J Rock Mech Min Sci 39(6):789–800. https://doi.org/10.1016/S1365-1609(02)00070-9
Hong E-S, Lee J-S, Lee I-M (2008) Underestimation of roughness in rough rock joints. Int J Num Anal Methods Geomech 32(11):1385–1403. https://doi.org/10.1002/nag.678
Hsiung SM, Ghosh A, Ahola MP, Chowdhury AH (1993) Assessment of conventional methodologies for joint roughness coefficient determination. Int J Rock Mech Min Sci Geomech Abstr 30(7):825–829. https://doi.org/10.1016/0148-9062(93)90030-H
Huang SL, Oelfke SM, Speck RC (1992) Applicability of fractal characterization and modelling to rock joint profiles. Int J Rock Mech Min Sci Geomech Abstr 29(2):89–98. https://doi.org/10.1016/0148-9062(92)92120-2
ISRM (1978) Suggested methods for the quantitative description of discontinuities in rock masses. Int J Rock Mech Min Sci Geomech Abstr 15(6):319–368. https://doi.org/10.1016/0148-9062(78)91472-9
James MR, Robson S (2014) Mitigating systematic error in topographic models derived from UAV and ground-based image networks. Earth Surf Process Landf 39(10):1413–1420. https://doi.org/10.1002/esp.3609
Jancosek M, Pajdla T (2011) Multi-view reconstruction preserving weakly-supported surfaces. In: CVPR 2011; 20–25 June 2011; pp 3121–3128. https://doi.org/10.1109/cvpr.2011.5995693
Jerónimo P, Resende R, Fortunato E (2020) An assessment of contact and laser-based scanning of rock particles for railway ballast. Transp Geotech 22:100302. https://doi.org/10.1016/j.trgeo.2019.100302
Jiang Y, Li B, Tanabashi Y (2006) Estimating the relation between surface roughness and mechanical properties of rock joints. Int J Rock Mech Min Sci 43(6):837–846. https://doi.org/10.1016/j.ijrmms.2005.11.013
Kulatilake PHSW, Balasingam P, Park J, Morgan R (2006) Natural rock joint roughness quantification through fractal techniques. Geotech Geol Eng 24(5):1181. https://doi.org/10.1007/s10706-005-1219-6
Ladanyi B, Archambault G (1970) Simulation of shear behaviour of a jointed rock mass. In: Somerton WH (ed) 11th Symposium on rock mechanics: theory and practice, Berkeley, California; June 16–19; pp 105–125
Lanaro F, Stephansson OJL (1998) 3D-laser measurements and representation of roughness of rock fractures. In: Rossmanith HP (ed) 3rd International conference on mechanics of jointed and faulted rock (MJFR-3), Vienna, Austria; 06–09 Apr.; pp 185–189
Lianheng Z, Dongliang H, Jingyu C, Xiang W, Wei L, Zhiheng Z, Dejian L, Shi Z (2020) A practical photogrammetric workflow in the field for the construction of a 3D rock joint surface database. Eng Geol 279:105878. https://doi.org/10.1016/j.enggeo.2020.105878
Maerz NH, Franklin JA, Bennett CP (1990) Joint roughness measurement using shadow profilometry. Int J Rock Mech Min Sci Geomech Abstr 27(5):329–343. https://doi.org/10.1016/0148-9062(90)92708-M
Mali VK, Kuiry SN (2018) Assessing the accuracy of high-resolution topographic data generated using freely available packages based on SfM-MVS approach. Measurement 124:338–350. https://doi.org/10.1016/j.measurement.2018.04.043
MathWorks (2018) MATLAB. v. 9.5.0.944444 (R2018b). The MathWorks, Inc, Natick
Murtiyoso A, Grussenmeyer P (2021) Experiments using smartphone-based videogrammetry for low-cost cultural heritage documentation. Int Arch Photogramm Remote Sens Spatial Inf Sci XLVI-M-1–2021:487–491. https://doi.org/10.5194/isprs-archives-XLVI-M-1-2021-487-2021
Nguyen CV, Lovell DR, Adcock M, La Salle J (2014) Capturing natural-colour 3D models of insects for species discovery and diagnostics. PLoS ONE 9(4):e94346
Nicolae C, Nocerino E, Menna F, Remondino F (2014) Photogrammetry applied to Problematic artefacts. Int Arch Photogramm Remote Sens Spatial Inf Sci XL–5:451–456. https://doi.org/10.5194/isprsarchives-XL-5-451-2014
Nikolov I, Madsen C (2016) Benchmarking close-range structure from motion 3D reconstruction software under varying capturing conditions. In: EuroMed 2016: digital heritage. progress in cultural heritage: documentation, preservation, and protection; Nicosia, Cyprus; Oct. 31–Nov. 05, pp 15–26. https://doi.org/10.1007/978-3-319-48496-9_2
Ortiz-Sanz J, Gil-Docampo M, Rego-Sanmartín T, Arza-García M, Tucci G (2021) A PBeL for training non-experts in mobile-based photogrammetry and accurate 3-D recording of small-size/non-complex objects. Measurement 178:109338. https://doi.org/10.1016/j.measurement.2021.109338
Paixão A, Fortunato E (2021) Abrasion evolution of steel furnace slag aggregate for railway ballast: 3D morphology analysis of scanned particles by close-range photogrammetry. Construct Build Mater 267:121225. https://doi.org/10.1016/j.conbuildmat.2020.121225
Paixão A, Resende R, Fortunato E (2018) Photogrammetry for digital reconstruction of railway ballast particles—a cost-efficient method. Construct Build Mater 191:963–976. https://doi.org/10.1016/j.conbuildmat.2018.10.048
Patton FD (1966) Multiple modes of shear failure in rock. In: 1st ISRM Congress; Lisbon, Portugal; Sep. 25–Oct. 01; Paper 87
Ramos AL (2013) Characterisation and modelling of the roughness of rock discontinuities (in Portuguese). M.Sc. Thesis; Porto: Faculdade de Engenharia da Universidade do Porto
Rasouli V, Harrison JP (2000) Scale effect, anisotropy and directionality of discontinuity surface roughness. In: Proceedings of the EUROCK Symposium for Felsmechanik und Tunnelbau; Aachen, Germany, vol 14, pp 751–756
Resende R, Muralha J, Ramos AL, Fortunato E (2015) Rock joint topography: three-dimensional scanning and numerical analysis. Géotech Lett 5(4):318–323. https://doi.org/10.1680/jgele.15.00046
Riquelme A, Del Soldato M, Tomás R, Cano M, Jordá Bordehore L, Moretti S (2019) Digital landform reconstruction using old and recent open access digital aerial photos. Geomorphology 329:206–223. https://doi.org/10.1016/j.geomorph.2019.01.003
Riquelme A, Tomás R, Cano M, Pastor JL, Jordá-Bordehore L (2021) Extraction of discontinuity sets of rocky slopes using iPhone-12 derived 3DPC and comparison to TLS and SfM datasets. IOP Conf Ser Earth Environ Sci 833(1):012056. https://doi.org/10.1088/1755-1315/833/1/012056
Roland (1999) Dr. PICZA. Roland DG Corporation
Tatone BSA, Grasselli G (2009) A method to evaluate the three-dimensional roughness of fracture surfaces in brittle geomaterial. Rev Sci Instr 80(12):125110. https://doi.org/10.1063/1.3266964
Uotinen L, Janiszewski M, Baghbanan A, Caballero E, Oraskari J, Munukka H, Szydlowska M, Rinne M (2019) Photogrammetry for recording rock surface geometry and fracture characterization. In Fontoura SD et al (eds) 14th International congress on rock mechanics and rock Engineering (ISRM 2019); Foz do Iguaçu, Brazil; 13–18 Sep.; Paper 14698
Wernecke C, Marsch K (2015) Mapping rock surface roughness with photogrammetry. In: Schubert W, Kluckner A (eds) ISRM regional symposium EUROCK 2015—future development of rock mechanics, Salzburg, Austria, p 1175–1180; Paper 192
Wu C (2013) Towards linear-time incremental structure from motion. In: 2013 International conference on 3D vision (3DV 2013); Seattle, Washington, USA; pp 127–134. https://doi.org/10.1109/3dv.2013.25
Wu C, Agarwal S, Curless B, Seitz SM (2011) Multicore bundle adjustment. In: 2011 IEEE conference on computer vision and pattern recognition; Colorado Springs, Colorado; 20–25 Jun. 2011; pp 3057–3064. https://doi.org/10.1109/cvpr.2011.5995552
Xie H, Wang J-A, Xie W-H (1997) Fractal effects of surface roughness on the mechanical behavior of rock joints. Chaos Solitons Fract 8(2):221–252. https://doi.org/10.1016/S0960-0779(96)00050-1
Acknowledgements
Part of this work was financially supported by: Base Funding–UIDB/04708/2020 of the CONSTRUCT—Instituto de I&D em Estruturas e Construções—funded by national funds through the FCT/MCTES (PIDDAC), and Base Funding FCT UIDB/04466/2020 of ISTAR—Instituto Universitário de Lisboa. The valuable help of Mr. Rui Coelho with the photographic sessions and mesh processing is also acknowledged.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this manuscript.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Paixão, A., Muralha, J., Resende, R. et al. Close-Range Photogrammetry for 3D Rock Joint Roughness Evaluation. Rock Mech Rock Eng 55, 3213–3233 (2022). https://doi.org/10.1007/s00603-022-02789-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00603-022-02789-9